diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat index b259565bdc..0808449f38 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat @@ -57,8 +57,6 @@ PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 -SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ - # analog input # PA5 VIN5 ADC1 define HAL_USE_ADC TRUE @@ -120,8 +118,6 @@ define HAL_BUILD_AP_PERIPH # only one I2C bus I2C_ORDER I2C1 -COMPASS RM3100 SPI:rm3100 false ROTATION_NONE - define HAL_I2C_CLEAR_ON_TIMEOUT 0 define HAL_DEVICE_THREAD_STACK 256 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat new file mode 100644 index 0000000000..9d33fd31bb --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef-bl.dat @@ -0,0 +1,6 @@ +include ../f303-periph/hwdef-bl.dat + +# start with a fixed node ID so the board is usable without DNA +define HAL_CAN_DEFAULT_NODE_ID 117 + +define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat new file mode 100644 index 0000000000..9d53afb398 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-GPS/hwdef.dat @@ -0,0 +1,11 @@ +include ../f303-periph/hwdef.dat + +# start with a fixed node ID so the board is usable without DNA +define HAL_CAN_DEFAULT_NODE_ID 117 + +define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" + +# GPS+MAG +define HAL_PERIPH_ENABLE_GPS +define HAL_PERIPH_ENABLE_MAG +define HAL_PERIPH_ENABLE_NCP5623_LED diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat new file mode 100644 index 0000000000..4bbf12676a --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef-bl.dat @@ -0,0 +1,102 @@ +# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32F303 STM32F303xC + +FLASH_RESERVE_START_KB 0 +FLASH_BOOTLOADER_LOAD_KB 26 + +# board ID for firmware load +APJ_BOARD_ID 1004 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# crystal frequency +OSCILLATOR_HZ 8000000 + +define CH_CFG_ST_FREQUENCY 1000 + +# assume 256k flash part +FLASH_SIZE_KB 256 + +STDOUT_SERIAL SD1 +STDOUT_BAUDRATE 57600 + +# board voltage +STM32_VDD 330U + +# order of UARTs +UART_ORDER +define HAL_USE_UART FALSE + +PA4 LED_BOOTLOADER OUTPUT LOW +define HAL_LED_ON 1 + +# USART1 +PA9 USART1_TX USART1 SPEED_HIGH NODMA +PA10 USART1_RX USART1 SPEED_HIGH NODMA + +# USART2 +PA2 USART2_TX USART2 SPEED_HIGH NODMA +PA3 USART2_RX USART2 SPEED_HIGH NODMA + +define HAL_USE_SERIAL TRUE + +define STM32_SERIAL_USE_USART1 TRUE +define STM32_SERIAL_USE_USART2 TRUE +define STM32_SERIAL_USE_USART3 FALSE + +PA13 SWDIO-JTMS SWD +PA14 SWCLK-JTCK SWD + +define HAL_NO_GPIO_IRQ +define CH_CFG_ST_TIMEDELTA 0 +#define CH_CFG_USE_DYNAMIC FALSE +define SERIAL_BUFFERS_SIZE 32 +define HAL_USE_EMPTY_IO TRUE +define PORT_INT_REQUIRED_STACK 64 + +# avoid timer and RCIN threads to save memory +define HAL_NO_TIMER_THREAD +define HAL_NO_RCIN_THREAD + +define HAL_USE_RTC FALSE +define DISABLE_SERIAL_ESC_COMM TRUE +define NO_DATAFLASH TRUE + +define DMA_RESERVE_SIZE 0 + +define PERIPH_FW TRUE +MAIN_STACK 0x800 +PROCESS_STACK 0x800 +define HAL_DISABLE_LOOP_DELAY + +define HAL_USE_EMPTY_STORAGE 1 +define HAL_STORAGE_SIZE 16384 + +# enable CAN support +PA11 CAN_RX CAN +PA12 CAN_TX CAN +define HAL_USE_CAN TRUE +define STM32_CAN_USE_CAN1 TRUE + +# make bl baudrate match debug baudrate for easier debugging +define BOOTLOADER_BAUDRATE 57600 + +# use a small bootloader timeout +define HAL_BOOTLOADER_TIMEOUT 1000 + +# use PB6 (normally I2C1_SCL) as "hold in bootloader" pin +# this has a hw pullup, so if we set it as input floating +# and look for it low then we know user has pulled it down and +# want to stay in the bootloader +PB6 STAY_IN_BOOTLOADER INPUT FLOATING + +# reserve 256 bytes for comms between app and bootloader +RAM_RESERVE_START 256 + +# start with a fixed node ID so the board is usable without DNA +define HAL_CAN_DEFAULT_NODE_ID 117 + +define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_gps" diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat new file mode 100644 index 0000000000..9370fe04d7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat @@ -0,0 +1,146 @@ +g# hw definition file for processing by chibios_pins.py + +# MCU class and specific type +MCU STM32F303 STM32F303xC + +# bootloader starts firmware at 26k +FLASH_RESERVE_START_KB 26 + +# store parameters in pages 11 and 12 +define STORAGE_FLASH_PAGE 11 +define HAL_STORAGE_SIZE 800 + +# board ID for firmware load +APJ_BOARD_ID 1004 + +# setup build for a peripheral firmware +env AP_PERIPH 1 + +# enable watchdog +define HAL_WATCHDOG_ENABLED_DEFAULT true + +# crystal frequency +OSCILLATOR_HZ 8000000 + +define CH_CFG_ST_FREQUENCY 1000 + +# assume the 256k flash part for now +FLASH_SIZE_KB 256 + +# board voltage +STM32_VDD 330U + +# order of UARTs +UART_ORDER USART2 USART1 + +# a LED to flash +PA4 LED OUTPUT LOW + +# USART1, connected to GPS +PA9 USART1_TX USART1 SPEED_HIGH NODMA +PA10 USART1_RX USART1 SPEED_HIGH NODMA + +# USART2 for debug +PA2 USART2_TX USART2 SPEED_HIGH NODMA +PA3 USART2_RX USART2 SPEED_HIGH NODMA + +define HAL_UART_NODMA + +# only one I2C bus in normal config +PB6 I2C1_SCL I2C1 +PB7 I2C1_SDA I2C1 + +PB0 MAG_CS CS + +# spi bus for compass +PA5 SPI1_SCK SPI1 +PA6 SPI1_MISO SPI1 +PA7 SPI1_MOSI SPI1 + +SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ + +# analog input +# PA5 VIN5 ADC1 +define HAL_USE_ADC FALSE +define STM32_ADC_USE_ADC1 FALSE +define HAL_DISABLE_ADC_DRIVER TRUE + +define HAL_NO_GPIO_IRQ +define CH_CFG_ST_TIMEDELTA 0 +#define CH_CFG_USE_DYNAMIC FALSE +define SERIAL_BUFFERS_SIZE 512 +define PORT_INT_REQUIRED_STACK 64 + +# avoid timer and RCIN threads to save memory +define HAL_NO_TIMER_THREAD +define HAL_NO_RCIN_THREAD + +define HAL_USE_RTC FALSE +define DISABLE_SERIAL_ESC_COMM TRUE +define NO_DATAFLASH TRUE + +define DMA_RESERVE_SIZE 0 + +define PERIPH_FW TRUE + +# MAIN_STACK is stack of initial thread +MAIN_STACK 0x80 + +# PROCESS_STACK controls stack for main thread +PROCESS_STACK 0x600 +define HAL_DISABLE_LOOP_DELAY + +# enable CAN support +PA11 CAN_RX CAN +PA12 CAN_TX CAN +define HAL_USE_CAN TRUE +define STM32_CAN_USE_CAN1 TRUE + +define HAL_USE_I2C TRUE +define STM32_I2C_USE_I2C1 TRUE + +define HAL_UART_MIN_TX_SIZE 256 +define HAL_UART_MIN_RX_SIZE 128 + +define HAL_UART_STACK_SIZE 256 +define STORAGE_THD_WA_SIZE 256 +define IO_THD_WA_SIZE 256 + +define HAL_NO_GCS +define HAL_NO_LOGGING +define HAL_NO_MONITOR_THREAD + +define HAL_MINIMIZE_FEATURES 0 + +define HAL_BUILD_AP_PERIPH + +# only one I2C bus +I2C_ORDER I2C1 + +COMPASS RM3100 SPI:rm3100 false ROTATION_NONE + +define HAL_I2C_CLEAR_ON_TIMEOUT 0 + +define HAL_DEVICE_THREAD_STACK 256 + +define AP_PARAM_MAX_EMBEDDED_PARAM 0 + +define HAL_PROBE_EXTERNAL_I2C_COMPASSES +define HAL_I2C_INTERNAL_MASK 0 + +# disable dual GPS and GPS blending to save flash space +define GPS_MAX_RECEIVERS 1 +define GPS_MAX_INSTANCES 1 +define HAL_COMPASS_MAX_SENSORS 1 + +# use the app descriptor needed by MissionPlanner for CAN upload +env APP_DESCRIPTOR MissionPlanner + +# reserve 256 bytes for comms between app and bootloader +RAM_RESERVE_START 256 + +# define CH_DBG_ENABLE_STACK_CHECK TRUE + +# keep ROMFS uncompressed as we don't have enough RAM +# to uncompress the bootloader at runtime +env ROMFS_UNCOMPRESSED True